cmake_minimum_required(VERSION 3.5)
project(cpp_co_location_client)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()
set(CMAKE_BUILD_TYPE "Debug")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Ofast -DNDEBUG -Wno-deprecated-declarations")
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

set(CMAKE_BUILD_TYPE Debug)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(client_interfaces REQUIRED)  
find_package(std_msgs REQUIRED)

find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Ceres REQUIRED)
find_package(yolo_detect_message REQUIRED)
find_package(GeographicLib REQUIRED)



include_directories(
    include
    ${EIGEN3_INCLUDE_DIR}
    ${PROJECT_SOURCE_DIR}/include
    ${CERES_INCLUDE_DIRS}
)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

# src/Co_Location_Computer.cpp 
# src/DDXTJC.cpp
# src/IMM_UKF.cpp
# src/UKF.cpp
# src/Airplane.cpp
# src/publisher_and_subscriber.cpp

add_executable(co_location 
                src/CoLocationNode.cpp
                src/main.cpp
                src/Co_Location_Computer.cpp 
                src/global_functions.cpp
                src/DDXTJC.cpp
                src/IMM_UKF.cpp
                src/UKF.cpp
                src/Airplane.cpp)
target_link_libraries(co_location ${CERES_LIBRARIES} GeographicLib::GeographicLib)
# ${CERES_LIBRARIES}
ament_target_dependencies(co_location rclcpp client_interfaces yolo_detect_message geometry_msgs)

add_executable(xietongdingwei_node 
                src/xietongdingwei.cpp
)
target_link_libraries(xietongdingwei_node ${CERES_LIBRARIES})
# ${CERES_LIBRARIES}
ament_target_dependencies(xietongdingwei_node  rclcpp std_msgs  sensor_msgs  yolo_detect_message geometry_msgs )



set_target_properties(co_location PROPERTIES INSTALL_RPATH "/usr/local/lib")

install(TARGETS
  co_location xietongdingwei_node
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
ament_package()
